Multipurpose gripper with magnetic suction cup

Abstract

The utility model relates to the technical field of grippers, and discloses a multipurpose gripper with a magnetic chuck, which comprises a support base body, a long workpiece processing unit, a small workpiece processing unit, an electromagnetic valve and a telescopic cylinder, the supporting base body is used for integrating all functional modules; the long workpiece processing unit is arranged on the supporting base body and comprises a magnetic suction cup, a clamping air cylinder and a detection sensor B; the magnetic chuck is used for adsorbing a long workpiece; the clamping cylinder is used for laterally clamping the adsorbed long workpiece to prevent the long workpiece from falling off; the detection sensor B is used for identifying the position of the long workpiece; the long workpiece processing unit further comprises a connecting flange used for being connected with an external driving mechanism. The same device can process long workpieces and small workpieces, the number of production line equipment is reduced, and cost is reduced; and the long workpiece is fixed through adsorption of the magnetic suction cup and lateral clamping of the clamping air cylinder, and the carrying stability is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of gripper, concretely is a multipurpose gripper with magnetic suction disc. BACKGROUND

[0002] In the automatic production line, the workpiece grabbing equipment needs to adapt to diversified workpiece types (such as long strip workpieces, small parts, etc.), but the prior art has the following shortcomings:

[0003] Single function: traditional grippers usually can only handle single type workpieces (such as only long workpieces or small parts), if different types of workpieces need to be handled at the same time, multiple independent grabbing equipment need to be configured, resulting in high production line cost and large space occupation.

[0004] Insufficient grabbing stability: for long strip workpieces, single magnetic adsorption or mechanical clamping method is easy to be affected by vibration and handling path, and there is a risk of workpiece falling off; for small parts, the traditional clamping mechanism lacks posture adjustment function and is difficult to adapt to the angle requirements of different workstations.

[0005] Poor modularity compatibility: the functional modules (such as clamping units and detection units) of the existing grabbing equipment are mostly fixed integrated, and need to be disassembled as a whole when replaced or maintained, which has low universality and cannot quickly respond to the production switching requirements of multiple varieties.

[0006] Control efficiency is limited: multi-functional switching relies on complex mechanical structure or multiple control systems, and the action response is slow, which is difficult to meet the beat requirements of high-speed production line. INVENTION CONTENTS

[0007] The utility model aims at providing a multipurpose gripper with magnetic suction disc to solve the problems in the above background technology.

[0008] To achieve the above purpose, the utility model provides the following technical scheme: a multipurpose gripper with magnetic suction disc, comprising:

[0009] Supporting base body for integrating various functional modules;

[0010] Long workpiece processing unit, provided on the supporting base body, containing magnetic suction disc, clamping cylinder and detection sensor B;

[0011] The magnetic suction disc is used for adsorbing long workpieces;

[0012] The clamping cylinder is used for laterally clamping the adsorbed long workpiece to prevent falling off;

[0013] The detection sensor B is used for identifying the position of the long workpiece;

[0014] The small piece processing unit is arranged on the support base and comprises a gripper, a gripper cylinder, a rotating cylinder and a second detection sensor.

[0015] The gripper cylinder drives the gripper to clamp the small piece.

[0016] The rotating cylinder is used for rotating the clamped small piece by a preset angle to convert the posture of the small piece.

[0017] The second detection sensor is used for identifying the position of the small piece.

[0018] The telescopic cylinder is connected with the long workpiece processing unit and the small piece processing unit and is used for adjusting the distance between the two and the workpiece.

[0019] The electromagnetic valve is used for controlling the on-off of the air path of the clamping cylinder, the gripper cylinder, the rotating cylinder and the telescopic cylinder to realize the switching of actions.

[0020] Preferably, the long workpiece processing unit further comprises a connecting flange used for connecting an external driving mechanism.

[0021] Preferably, in the small piece processing unit, the gripper is connected with the gripper cylinder through a gripper connecting pipe to strengthen the stability of mechanical transmission.

[0022] Preferably, the preset rotating angle of the rotating cylinder is °, which is suitable for the posture requirement of the small piece work station.

[0023] Preferably, the long workpiece processing unit and the small piece processing unit are installed on the support base through a connecting piece and a connecting angle seat to improve the universality of module assembly.

[0024] Compared with the prior art, the utility model has the beneficial effects that:

[0025] 1. Multifunctional integration: the same device can process long workpieces (magnetic adsorption and clamping) and small pieces (clamping + rotation), reducing the number of production line equipment and the cost.

[0026] 2. Double fixation to prevent falling: the long workpiece is fixed by double "magnetic adsorption disc adsorption and clamping cylinder lateral clamping", improving the carrying stability.

[0027] 3. Flexible adjustment of small piece posture: the rotating cylinder supports 90° rotation, which is suitable for the posture requirement of the small piece work station and reduces the additional overturning process.

[0028] 4. Modular design: the long workpiece and the small piece processing unit are installed on the support base through standard parts, which is convenient for maintenance, replacement and function expansion.

[0029] 5. Stable and reliable transmission: the gripper is transmitted by the rigid connecting pipe and the cylinder, which reduces the gap and improves the clamping precision of the small piece.

[0030] 6. Pneumatic control high efficiency: electromagnetic valve unified control gas circuit, fast action response, adapt to high-speed production line rhythm, connect flange to adapt to mainstream robot interface, detection sensor to ensure accurate workpiece positioning, improve system integration efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 It is a structural schematic view of the utility model;

[0032] Figure 2 It is a structural schematic view of the utility model;

[0033] Figure 3 It is a structural schematic view of the utility model;

[0034] Figure 4 It is a structural schematic view of the utility model.

[0035] In the drawing: 1, electromagnetic valve; 2, telescopic cylinder; 3, connecting flange; 4, clamping cylinder; 5, connecting angle seat; 6, connecting piece; 7, long workpiece; 8, small piece; 9, magnetic chuck; 10, connecting flange; 11, rotary cylinder; 12, gripper cylinder; 13, gripper; 14, detection sensor A; 15, gripper connecting pipe; 16, detection sensor B, 17, support base. DETAILED DESCRIPTION

[0036] The technical scheme in the embodiments of the utility model will be described clearly and completely in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the utility model.

[0037] Please refer to Figures 1-4 The utility model provides a kind of technical scheme: a multipurpose gripper with magnetic chuck, comprising: support base 17, long workpiece processing unit and small piece processing unit, electromagnetic valve 1 and telescopic cylinder 2;

[0038] Support base 17 is used to integrate each functional module;

[0039] Long workpiece processing unit is arranged on support base 17, including magnetic chuck 9, clamping cylinder 4 and detection sensor B 16;The magnetic chuck 9 is used to adsorb long workpiece 7;The clamping cylinder 4 is used to carry out lateral clamping to long workpiece 7 after adsorption, to prevent falling;Detection sensor B 16 is used to identify the position of long workpiece 7;The long workpiece processing unit further includes connecting flange 3, for connecting external driving mechanism.

[0040] The magnetic chuck 9 is vertically fixed to the front end surface of the support base 17, and the adsorption surface is parallel to the contact surface of the long workpiece 7; the electromagnetic chuck is adopted, the on-off electricity is controlled through the electromagnetic valve 1, the magnetic field is generated to adsorb the long workpiece 7 (such as ferromagnetic metal rod, shaft parts) when the electricity is on, and the workpiece is released when the electricity is off.

[0041] The clamping cylinder 4 is transversely arranged on both sides of the magnetic chuck 9, is connected with the support base 17 through the L-shaped support, and the piston rod is directed to the center of the magnetic chuck 9; after the long workpiece 7 is adsorbed by the magnetic chuck 9, the external driving mechanism (such as a robot) lifts the unit to a safe height, triggers the piston rod of the clamping cylinder 4 to extend, and clamps the long workpiece 7 from both sides.

[0042] The detection sensor B 16 adopts the photoelectric sensor, is installed on the outside of the magnetic chuck 9, the detection light beam is perpendicular to the conveying direction of the long workpiece 7; when the long workpiece 7 moves to the grabbing station, the sensor detects that the workpiece blocks the light beam, sends a signal to the control system, and triggers the power-on adsorption action of the magnetic chuck 9.

[0043] The connecting flange 3 is a circular flange plate arranged on the top of the support base 17, and a standard screw hole (M6x4) is formed on the surface. Through the bolt, the external driving mechanism (such as an industrial robot arm, a mechanical arm) is rigidly connected, the spatial movement and positioning of the long workpiece processing unit are realized.

[0044] The small workpiece processing unit is arranged on the support base 17, and includes a gripper 13, a gripper cylinder 12, a rotary cylinder 11 and a detection sensor A; the gripper cylinder 12 drives the gripper 13 to clamp the small workpiece 8; the rotary cylinder 11 is used for rotating the clamped small workpiece 8 by a preset angle, and converting the posture of the small workpiece 8; the detection sensor A is used for identifying the position of the small workpiece 8; in the small workpiece processing unit, the gripper 13 is connected with the gripper cylinder 12 through the gripper connecting pipe 15, and the mechanical transmission stability is strengthened; the preset rotation angle of the rotary cylinder 11 is 90°, which is suitable for the posture requirement of the small workpiece station.

[0045] The gripper 13 adopts a two-finger parallel jaw structure, and the inside of the gripper 13 is provided with a non-slip rubber pad to adapt to the size range of the small workpiece 8: length 20-100mm, width 10-50mm.

[0046] The gripper 13 is rigidly connected with the gripper cylinder 12 through the gripper connecting pipe 15, the gripper connecting pipe 15 is a stainless steel hollow pipe with an inner diameter of φ8mm and an outer diameter of φ12mm, and the two ends are fixed with the bottom of the gripper 13 and the piston rod of the gripper cylinder 12 through threads respectively, so as to reduce the transmission gap and improve the clamping stability.

[0047] The gripper cylinder 12 is vertically fixed to the right side surface of the support base 17, the piston rod axis is consistent with the movement direction of the gripper 13, a single-acting spring return cylinder is adopted, the piston rod extends when the air is on, drives the gripper 13 to close and clamp the small workpiece 8; the spring returns when the air is off, and the gripper 13 is opened to release the workpiece.

[0048] Rotary cylinder 11 is arranged between the gripper cylinder 12 and the gripper 13, and is fixed by connecting flange 3 and the top end of the gripper connecting pipe 15.

[0049] Pre-set angle: 90° (clockwise or counterclockwise rotation, switch the gas path direction by electromagnetic valve 1), adapt to the orthogonal conversion requirement of small parts 8 posture in the placing station (such as from horizontal grabbing to vertical placing).

[0050] Detection sensor A adopts diffuse reflection type photoelectric sensor, which is horizontally installed above the gripper 13, and the detection beam is perpendicular to the conveying direction of the small parts 8; when the small parts 8 moves to the grabbing station, the detection sensor A detects the workpiece reflection light and sends a signal to the control system, triggering the clamping action of the gripper cylinder 12.

[0051] The telescopic cylinder 2 connects the long workpiece processing unit and the small parts processing unit, which is used to adjust the distance between them and the workpiece; the electromagnetic valve 1 is used to control the on-off of the gas path of the clamping cylinder 4, the gripper cylinder 12, the rotary cylinder 11 and the telescopic cylinder 2, to realize the action switching. The long workpiece processing unit and the small parts processing unit are installed on the support base through the connecting piece 6 and the connecting angle base 5, which improves the universality of the module assembly.

[0052] The detailed connection means is a known technology in the art, and the working principle and process are mainly introduced as follows.

[0053] Long workpiece grabbing process:

[0054] Step S1: control the telescopic cylinder 2 to retract, so that the long workpiece processing unit approaches the long workpiece 7;

[0055] Step S2: when the detection sensor B 16 detects the long workpiece 7, control the magnetic chuck 9 to adsorb the long workpiece 7;

[0056] Step S3: drive the external mechanism (such as robot) to lift the long workpiece processing unit to a safe height;

[0057] Step S4: control the clamping cylinder 4 to close, and laterally clamp and fix the long workpiece 7, to form the anti-falling protection.

[0058] Small parts grabbing process:

[0059] Step Y1: control the clamping cylinder 4 to open (long workpiece mode reset), and the telescopic drive assembly 2 to extend, so that the small parts processing unit approaches the small parts 8;

[0060] Step Y2: when the second detection sensor 14 detects the small parts 8, control the gripper cylinder 12 to close, so that the gripper 13 clamps the small parts 8;

[0061] Step Y3: drive the external mechanism to lift the small piece processing unit to a safe height;

[0062] Step Y4: control the rotary cylinder 11 to rotate a preset angle (such as 90°), and convert the small piece 8 into a placing posture.

[0063] Although the embodiments of the present application have been shown and described, it should be understood by those ordinary skilled in the art that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A multi-purpose gripper with magnetic suction disc, characterized in that, The utility model relates to a long and small workpiece processing device, including: Support base (17) for integrating various functional modules; Long workpiece processing unit arranged on the support base (17) and comprising a magnetic chuck (9), a clamping air cylinder (4) and a detection sensor B (16); The magnetic chuck (9) is used for adsorbing a long workpiece (7); The clamping air cylinder (4) is used for laterally clamping the long workpiece (7) after adsorption to prevent falling off; The detection sensor B (16) is used for identifying the position of the long workpiece (7); Small workpiece processing unit arranged on the support base (17) and comprising a gripper (13), a gripper air cylinder (12), a rotary air cylinder (11) and a second detection sensor (14); The gripper air cylinder (12) drives the gripper (13) to clamp a small workpiece (8); The rotary air cylinder (11) is used for rotating the clamped small workpiece (8) by a preset angle to convert the posture of the small workpiece; The second detection sensor (14) is used for identifying the position of the small workpiece (8); A telescopic air cylinder (2) is connected to the long workpiece processing unit and the small workpiece processing unit and is used for adjusting the distance between the two and the workpiece; An electromagnetic valve (1) is used for controlling the on-off of the air circuit of the clamping air cylinder (4), the gripper air cylinder (12), the rotary air cylinder (11) and the telescopic air cylinder (2) to realize action switching.

2. The multi-purpose gripper with magnetic suction disc according to claim 1, characterized in that: The long workpiece processing unit further comprises a connecting flange (3) for connecting an external driving mechanism.

3. The multi-purpose gripper with magnetic suction disc according to claim 1, characterized in that: In the small workpiece processing unit, the gripper (13) is connected to the gripper air cylinder (12) through a gripper connecting pipe (15) to strengthen the stability of mechanical transmission.

4. The multi-purpose gripper with magnetic suction disc according to claim 1, characterized in that: The preset rotation angle of the rotary air cylinder (11) is 90°, which is suitable for the posture requirement of a workpiece station.

5. The multi-purpose gripper with magnetic suction disc according to claim 1, characterized in that: The long workpiece processing unit and the small workpiece processing unit are installed on the support base through a connecting piece (6) and a connecting angle seat (5) to improve the universality of module assembly.

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